Powered endoscopic suturing device

ABSTRACT

An endoscopic stitching device includes an actuation shaft, a tool assembly, and a drive assembly. The tool assembly includes a suture needle and a pair of jaws transitionable between open and closed positions. Each jaw includes a needle engaging blade slidably supported thereon. Each needle engaging blade is transitionable between an extended position in which the needle engaging blade engages the suture needle and a retracted position in which the needle engaging blade is disengaged from the suture needle. The drive assembly includes first, second, and third electrical actuators. The first actuator is operatively coupled with the actuation shaft to cause axial displacement of the actuation shaft. The axial displacement of the actuation shaft causes opening and closing of the pair of jaws. The second and third actuators are operatively coupled with the needle engaging blades to provide axial displacement of the needle engaging blades.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of and priority to U.S. ProvisionalPatent Application No. 62/261,428, filed Dec. 1, 2015, the entiredisclosure of which is incorporated by reference herein.

BACKGROUND

Technical Field

The present disclosure relates to surgical instruments and, moreparticularly, to endoscopic suturing and/or stitching devices.

Background of Related Art

In many surgical procedures, it is often necessary to suture bodilyorgans or tissue. It is especially challenging during endoscopic surgerybecause of the small openings through which the suturing of bodilyorgans or tissues must be accomplished. Hand-held and hand-actuated orhand-powered endoscopic stitching devices have been developed tofacilitate the suturing process. For a detailed discussion of exemplaryhand-held and hand-actuated or hand-powered endoscopic stitchingdevices, reference may be made to U.S. Pat. No. 5,478,344, filed on Aug.19, 1994, and U.S. Pat. No. 8,628,545, filed on Jun. 10, 2009, theentire content of each of which is incorporated herein by reference.

However, a need still exists for improvements in suturing devices tofurther facilitate and expedite the suturing process.

SUMMARY

The present disclosure describes a powered suturing device thatdemonstrates a practical approach to meeting the performancerequirements and overcoming the usability challenges associated withsuturing devices. In general, the present disclosure describes poweredsuturing devices that include a handle assembly including a drivemechanism, an elongate member, and an end effector having a pair of jawsto engage a suture needle.

In accordance with an embodiment of the present disclosure, there isprovided an endoscopic stitching device including an actuation shaft, atool assembly, and a drive assembly. The tool assembly includes a sutureneedle and a pair of jaws transitionable between open and closedpositions. Each jaw of the pair of jaws includes a needle engaging bladeslidably supported thereon. Each needle engaging blade is transitionablebetween an extended position in which the needle engaging blade engagesthe suture needle and a retracted position in which the needle engagingblade is disengaged from the suture needle. The drive assembly includesfirst, second, and third electrical actuators. The first actuator isoperatively coupled with the actuation shaft to cause axial displacementof the actuation shaft. The axial displacement of the actuation shaftcauses opening and closing of the pair of jaws. The second and thirdactuators are operatively coupled with the needle engaging blades toprovide axial displacement of the needle engaging blades.

The drive assembly may further include a printed circuit board includinga microprocessor to control execution of at least one of the first,second, or third actuators. The drive assembly may also include acontrol interface including first and second buttons. Actuation of thefirst button may cause reciprocating axial displacement of the needleengaging blades. Actuation of the second button may transition the pairof jaws between the open and closed positions. Alternatively, actuationof the first button may transition the pair of jaws between open andclosed positions and cause reciprocating axial displacement of theneedle engaging blades.

In an embodiment, the drive assembly may further include a battery packto supply power to the first, second, and third actuators.

In an embodiment, each jaw of the pair of jaws may define a needlereceiving recess dimensioned to receive a portion of the suture needle.

In an embodiment, at least one of the first, second, or third actuatorsmay be a servomotor.

In an embodiment, the drive assembly may further include a first leadscrew and a first nut. In particular, the first actuator may beoperatively connected to the first lead screw. The first nut may beoperatively connected to the actuation shaft. Actuation of the firstactuator may cause rotation of the first lead screw, which, in turn maycause the axial displacement of the actuation shaft.

In an embodiment, the drive assembly may further include a second leadscrew and a second nut, with the second actuator being operativelyconnected to the second lead screw. The second nut may be operativelyconnected to one of the needle engaging blades. Actuation of the secondactuator may cause rotation of the second lead screw, which, in turn maycause axial displacement of one of the needle engaging blades.

In an embodiment, the drive assembly may further include a third leadscrew and a third nut. In particular, the third actuator may beoperatively connected to the third lead screw. The third nut may beoperatively connected to the other one of the needle engaging blades.Actuation of the third actuator may cause rotation of the third leadscrew, which, in turn may cause axial displacement of the other one ofthe needle engaging blades.

In accordance with another embodiment of the present disclosure, thereis provided an endoscopic stitching device including a handle assembly,an elongate member, and a tool assembly. The handle assembly includes adrive assembly including first, second, and third electrical actuators.The elongate member has an actuation shaft. The elongate member extendsfrom the handle assembly. The tool assembly is operatively supported onthe elongate member. The tool assembly includes a suture needle and apair of jaws pivotally associated with one another. Each jaw of the pairof jaws includes a needle engaging blade slidably supported thereon.Each needle engaging blade is transitionable between an extendedposition in which the needle engaging blade engages the suture needleand a retracted position in which the needle engaging blade isdisengaged from the suture needle. The first actuator is operativelycoupled with the actuation shaft, such that axial displacement of theactuation shaft results in opening and closing of the pair of jaws. Thesecond and third actuators are operatively coupled with the respectiveneedle engaging blades to provide axial displacement of the needleengaging blades.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the disclosureand, together with a general description of the disclosure given above,and the detailed description of the embodiment(s) given below, serve toexplain the principles of the disclosure, wherein:

FIG. 1 is a powered endoscopic suturing device in accordance with anembodiment of the present disclosure illustrating the powered endoscopicsuturing device with a handle assembly housing removed;

FIG. 2 is a perspective view of a handle assembly for use with thepowered endoscopic suturing device of FIG. 1;

FIG. 3 is a partial, perspective view of an elongate member and an endeffector of the powered endoscopic suturing device of FIG. 1;

FIG. 4 is an exploded perspective view of the end effector of FIG. 1with parts separated;

FIG. 5 is a perspective view of a suture needle of the end effector ofFIG. 3;

FIG. 6 is a perspective view of a needle engaging blade and a rodcoupled to the needle engaging blade of the powered endoscopic suturingdevice of FIG. 1;

FIG. 7 is a partially enlarged perspective view of the needle engagingblade of FIG. 6;

FIG. 8 is a perspective view of a motor housing of the poweredendoscopic suturing device of FIG. 1;

FIG. 9 is a perspective view of the motor housing of FIG. 8 with a coverremoved illustrating a drive assembly of the powered endoscopic suturingdevice of FIG. 1;

FIG. 10 is a perspective view of the motor housing of FIG. 8 includingan actuation interface and a battery pack;

FIG. 11 is a perspective view of the motor housing of FIG. 8 including atransformer;

FIG. 12 is a perspective view of another motor housing of FIG. 8including an actuation interface in accordance with another embodimentof the present disclosure.

FIG. 12a is a perspective view of another motor housing of FIG. 8including an actuation interface in accordance with another embodimentof the present disclosure; and

FIG. 13 is a schematic illustration of a robotic surgical system for usewith the powered endoscopic suturing device of FIG. 1

DETAILED DESCRIPTION

Embodiments of the present disclosure are described in detail withreference to the drawings, in which like reference numerals designateidentical or corresponding elements in each of the several views. Asused herein, the term “distal” refers to that portion of a device thatis farther from the user, while the term “proximal” refers to thatportion of a device that is closer to the user.

With reference to FIGS. 1-3, there is illustrated a powered suturingdevice 1000 in accordance with an embodiment of the present disclosure.Powered suturing device 1000 includes a handle assembly 5 (FIG. 2)including a motor housing 4 (FIG. 1) therein. An elongate shaft 3extends from handle assembly 5 and supports an end effector 100 at adistal end thereof.

With reference now to FIGS. 3 and 4, end effector 100 includes a jawsupport member 122 and first and second jaws 130, 132 pivotably mountedon jaw support member 122. Jaw support member 122 defines a lumen 124(FIG. 4) in communication with a channel (not shown) defined in elongateshaft 3 (FIG. 3). Jaw support member 122 further includes a pair ofspaced apart arms 126. Each arm 126 defines a hole 126 a and a cammingslot 127 extending along a length of jaw support member 122. Jaw supportmember 122 further defines a pair of opposing grooves 124 a, 124 bconfigured to slidably receive respective first and second needleengaging blades 150, 152.

With particular reference to FIG. 4, first and second jaws 130, 132include respective first and second needle receiving recesses 130 a, 132b configured to receive at least a portion of a surgical needle 104.First and second jaws 130, 132 further define respective pivot holes134, 136 and respective camming slots 135, 137. Camming slots 135, 137define an acute angle with respect to each other. First and second jaws130, 132 are supported on jaw support member 122 by a pivot pin 140 thatextends through holes 126 a defined in respective arms 126 of supportmember 122 and pivot holes 134, 136 defined in respective first andsecond jaws 130, 132. Camming pin 142 is slidably disposed in cammingslots 135, 137 of respective first and second jaws 130, 132 and cammingslots 127 of jaw support member 122. Under such a configuration, axialdisplacement of camming pin 142 transitions first and second jaws 130,132 between an open position and a closed position. Camming pin 142 iscoupled with a center rod 52 (FIG. 9) that extends from motor housing 4and through elongate shaft 3. Axial displacement of center rod 52provides concomitant axial displacement to camming pin 142 to transitionfirst and second jaws 130, 132 between the open and closed positions.For example, jaws 130, 132 may be maintained in the open position byhaving center rod 52 at a distal-most position which, in turn, positionscamming pin 142 at a distal-most end of camming slots 135, 137 of firstand second jaws 130, 132 and camming slot 127 of jaw support member 122.

With continued reference to FIG. 4, end effector 100 further includesfirst and second needle engaging blades 150, 152. First and secondneedle engaging blades 150, 152 are individually transitionable betweenan extended position and a retracted position. First and second needleengaging blades 150, 152 are slidably supported within respectivegrooves 124 a, 124 b of support member 122 for concomitant orreciprocating movement. For example, needle engaging blades 150, 152 maymove in opposite directions to perform suturing or move in the samedirection to, e.g., secure suture needle 104 with first and second jaws130, 132 to enable the clinician to tighten suture 105 (FIG. 5) or todisengage suture needle 104 from first and second jaws 130, 132 toenable the clinician to replace suture needle 104. First and secondneedle engaging blades 150, 152 are configured to further extend intoblade receiving channels 133 (only shown in first jaw 130) of respectivefirst and second jaws 130, 132. Blade receiving channels 133 aredimensioned and configured to at least partially intersect therespective first and second needle recesses 130 a, 132 a. Under such aconfiguration, by advancing first and second needle engaging blades 150,152 within respective channels 133, distal ends 150 a, 152 a ofrespective first and second needle engaging blades 150, 152 engagerespective notches 104 a, 104 b defined in suture needle 104 when atleast a portion of suture needle 104 is disposed within the respectiverecesses 130 a, 132 a of first and second jaws 130, 132. Reciprocatingmovement of first and second needle engaging blades 150, 152 causes, forexample, engagement of first needle engaging blades 150 with sutureneedle 104 and disengagement of second needle engaging blade 152 fromsuture needle 104, or vice versa.

With reference now to FIG. 5, suture needle 104 defines notches 104 a,104 b at respective opposite ends 105, 107 of suture needle 104. Asuture 105 (shown in phantom) is secured to surgical needle 104 at alocation between notches 104 a, 104 b. Suture 105 may include barbs (notshown) to inhibit movement of suture 104 in a particular direction.Reference may be made to U.S. Pat. No. 8,628,545, filed on Jun. 10,2009, entitled “ENDOSCOPIC STITCHING DEVICES,” the entire content ofwhich is incorporated herein by reference, for a detailed discussion ofthe construction and operation of end effector 100.

With reference now to FIGS. 8 and 9, motor housing 4 includes two bodyhalves 40 a, 40 b coupled by a locking sleeve 44. Motor housing 4includes a drive mechanism 45 (FIG. 9) to open or close first and secondjaws 130, 132 and actuate first and second needle engaging blades 150,152. Drive mechanism 45 includes a plurality of motors 41, 42, 43. Eachmotor 41, 42, 43 may be a servomotor, such as, e.g., a DC brushlessmotor with or without Hall Effect sensors.

Each motor 41, 42, 43 is operatively coupled with a respectiveconnecting sleeve 44 a, 44 b, 44 c, a respective lead screw 47 a, 47 b,47 c, and a respective set of thrust bearings with disc springs 45 a, 45b, 45 c. Each lead screw 47 a, 47 b, 47 c is operatively coupled with arespective nut 48 a, 48 b, 48 c. Under such a configuration, rotationaloutput of each motor 41, 42, 43 provides concomitant rotation to therespective lead screw 47 a, 47 b, 47 c, which, in turn, causes axialdisplacement of the respective nut 48 a, 48 b, 48 c. In particular, nut48 b is coupled with center rod 52 by a pin 50 b. Center rod 52 iscoupled with camming pin 142 (FIG. 3), such that axial displacement ofcenter rod 52 transitions first and second jaws 130, 132 between theopen and closed positions. Nuts 48 a, 48 c are coupled with rods 51, 53,by pins 50 a, 50 c, respectively. Rods 51, 53 are coupled with therespective first and second needle engaging blades 150, 152 such thataxial displacement of rods 51, 53 causes concomitant axial displacementof the respective first and second needle engaging blades 150, 152. Rods51, 53 are substantially similar and, thus, only rod 51 and first needleengaging blade 150 are shown in FIGS. 6 and 7.

With reference now to FIG. 10, handle assembly 5 (FIG. 2) furtherincludes a printed circuit board 60 including a microprocessor. Themicroprocessor controls drive mechanism 45 (FIG. 9). In particular, themicroprocessor controls the execution and sequence of execution ofsuturing such as, e.g., concomitant or reciprocating movements of firstand second needle engaging blades 150, 152.

With continued reference to FIG. 10, printed circuit board 60 mayfurther include control panel 65 including control buttons 61, 62, 63.Each control button 61, 62, 63 may be utilized to actuate one or moremotors 41, 42, 43. For example, control button 62 may be used to actuatemotor 42 to open and close first and second jaws 130, 132. Controlbuttons 61, 63 may be used to cause reciprocating axial displacement offirst and second needle engaging blades 150, 152 toward and away fromthe respective aperture 130 a, 132 a (FIGS. 3 and 4) of first and secondjaws 130, 132 to engage or disengage from the respective notches 104 a,104 b of suture needle 104. Drive mechanism 45 and the microprocessormay be powered by a battery pack 64. Alternatively, a transformer 70(FIG. 11) may be utilized to draw power from an external power supply.

In use, control button 62 is pressed to open first and second jaws 130,132. Initially, suture needle 104 must be lodged into one of first orsecond jaws 130, 132. For the illustration purposes, suture needle 104is lodged into first jaw 130. At this time, first needle engaging blade150 moves to the extended position and engages notch 104 a of sutureneedle 104 to secure suture needle 104 with first jaw 130, and secondneedle engaging blade 152 moves to the retracted position to bedisengaged from notch 104 b of suture needle 104. Then, control button62 may be pressed to close first and second jaws 130, 132, during whichsuture needle 104 may be passed through tissue and end 107 (FIG. 5) ofsuture needle 104 is received in aperture 132 a of second jaw 132. Atthis time, control button 63 is pressed to transition second needleengaging blade 152 to the extended position to engage notch 104 b ofsuture needle 104 and to transition first needle engaging blade 150 tothe retracted position to disengage from notch 104 a of suture needle104. In this manner, suture needle 104 is secured with second jaw 132.Thereafter, control button 62 is pressed again to open first and secondjaws 130, 132. The clinician may repeat this process to perform as muchsuturing as needed.

With reference now to FIG. 12, there is provided a motor housing 204(shown in FIG. 12a ) in accordance with another embodiment of thepresent disclosure. Motor housing 204 includes first and second printedcircuit boards 260, 280. First printed circuit board 260 includes, e.g.,tactile, switches 261, 262, 263 similar to control buttons 61, 62, 63described hereinabove, and a sliding switch 284 configured to switchbetween a suturing mode and a needle reloading mode. Second printedcircuit board 280 may be used to house motor contacts and provideconnection to an external power supply.

In order to perform suturing, sliding switch 284 is switched to thesuturing mode. Switch 261 may be pressed to transition first and secondjaws 130, 132 to the open position. At this time, suture needle 104 issecured with first jaw 130 in the manner described above. When switch263 is pressed, first and second jaws 130, 132 close onto tissue, andend 107 (FIG. 5) of suture needle 104 is passed through the tissue andreceived in needle receiving recess 132 a of second jaw 132. At thistime, first needle engaging blade 150 moves to the retracted positionand disengages from notch 104 a of suture needle 104, and second needleengaging blade 152 moves to the extended position and engages notch 104b of suture needle 104 such that suture needle 104 is secured withsecond jaw 132. Upon securement of suture needle 104 on second jaw 132,first and second jaws 130, 132 transition back to the open position, andsuture needle 104 is pulled through the tissue. The clinician may repeatthis process as needed to complete the suturing process.

When switch 262 is pressed, first and second jaws 130, 132 close andboth first and second needle engaging blades 150, 152 engage therespective notches 104 a, 104 b of suture needle 104. When suture needle104 is secured to both first and second jaws 130, 132, the clinician maytighten the stitches of suture 105 and/or a knot formed by suture 105.

In order to replace suture needle 104, sliding switch 284 is switched tothe reloading mode. In this mode, first and second jaws 130, 132 close,and first and second needle engaging blades 150, 152 transition to theretracted position and disengage from the respective notches 104 a, 104b of suture needle 104. The clinician may press switches 261, 263 toopen first and second jaws 130, 132. At this time, first and secondneedle engaging blades 150, 152 remain disengaged from the respectivenotches 104 a, 104 b of suture needle 104. The clinician may replacesuture needle 104. After replacing the needle, switch 262 may be pressedto close first and second jaws 130, 132. Thereafter, the clinician mayslide switch 284 to the suturing mode causing first and second needleengaging blades 150, 152 to engage the respective notches 104 a, 104 bof suture needle 104, while first and second jaws 130, 132 remainclosed.

In use, switch 284 is switched to the suturing mode. At this time,suture needle 104 is secured only with first jaw 130, and first andsecond jaws 130, 132 open. The clinician may position suture needle 104adjacent tissue (e.g., tissue is disposed between jaws 130, 132) suchthat when switch 263 is pressed, suture needle 104 passes through tissueand first and second jaws 130, 132 close onto the tissue. At this time,first needle engaging blade 150 disengages from notch 104 a of sutureneedle 104, and second needle engaging blade 152 engages notch 104 b ofsuture needle 104 such that suture needle 104 is secured with second jaw132. Thereafter, first and second jaws 130, 132 reopen and suture needle104 is pulled through the tissue by second jaw 132. The clinician mayrepeat this process as much as needed to achieve the desired suturing.The clinician can tighten the stitches of suture 105 or a knot of suture105 by first pressing switch 262. When switch 262 is pressed, first andsecond jaws 130, 132 close and both first and second needle engagingblades 150, 152 move to the extended position and engage the respectivenotches 104 a, 104 b of suture needle 104. In addition, the clinicianmay replace suture needle 104 by switching switch 284 to the reloadingmode.

It is further envisioned that an LED can be utilized to provide feedbackto the clinician of the device status such as, e.g., closing/opening offirst and second jaws 130, 132, securement of suture needle 104 withfirst or second jaws 130, 132, etc. Further, the feedback system mayfurther provide the tissue data to the clinician, such as, e.g.,thickness of tissue. This can, for example, be achieved by utilizingservomotors, which can be utilized in monitoring the position of firstand second jaws 130, 132.

With reference now to FIG. 13, it is also envisioned that poweredsuturing device 1000 may be adapted for use in a medical work stationshown generally as work station 5000. Medical work station 5000 isconfigured for a minimally invasive surgical procedure performed on asubject “P”. Medical work station 5000 generally includes a plurality ofrobot arms 1002, 1003; a control device 1004; and an operating console1005 coupled with control device 1004. Operating console 1005 mayinclude a display device 1006 and manual input devices 1007, 1008 toenable the clinician to telemanipulate robot arms 1002, 1003. Inaddition, medical work station 5000 may also include a database 1014connected with control device 1004. Database 1014 may include, e.g.,pre-operative data from subject “P” and/or anatomical atlases.

Each robot arm 1002, 1003 includes an attaching device 1009, 1011configured to operatively engage a surgical instrument such as, e.g.,powered suturing device 1000. Robot arms 1002, 1003 may be driven byelectric drives (not shown) that are connected to control device 1004.Control device 1004, e.g., a computer, may be set up to activate thedrives, such that robot arms 1002, 1003 having, e.g., powered suturingdevice 1000 attached thereto, perform desired functions according to theinput of manual input devices 1007, 1008.

Persons skilled in the art will understand that the structures andmethods specifically described herein and shown in the accompanyingfigures are non-limiting exemplary embodiments, and that thedescription, disclosure, and figures should be construed merely asexemplary of particular embodiments. For example, end effector 100 maybe modified to accommodate rotatable or articulatable movement. It is tobe understood, therefore, that the present disclosure is not limited tothe precise embodiments described, and that various other changes andmodifications may be effected by one skilled in the art withoutdeparting from the scope or spirit of the disclosure.

Additionally, the elements and features shown or described in connectionwith certain embodiments may be combined with the elements and featuresof certain other embodiments without departing from the scope of thepresent disclosure, and that such modifications and variations are alsoincluded within the scope of the present disclosure. Accordingly, thesubject matter of the present disclosure is not limited by what has beenparticularly shown and described.

What is claimed is:
 1. An endoscopic stitching device, comprising: anactuation shaft; a tool assembly including a suture needle and a pair ofjaws transitionable between open and closed positions, each jaw of thepair of jaws including a needle engaging blade slidably supportedthereon, each needle engaging blade transitionable between an extendedposition in which the needle engaging blade engages the suture needleand a retracted position in which the needle engaging blade isdisengaged from the suture needle; and a drive assembly including first,second, and third electrical actuators, the first actuator operativelycoupled with the actuation shaft to cause axial displacement of theactuation shaft, the axial displacement of the actuation shaft causingopening and closing of the pair of jaws, the second and third actuatorsoperatively coupled with the needle engaging blades to provide axialdisplacement of the needle engaging blades.
 2. The endoscopic stitchingdevice according to claim 1, wherein the drive assembly further includesa printed circuit board including a microprocessor to control executionof at least one of the first, second, or third actuators.
 3. Theendoscopic stitching device according to claim 2, wherein the driveassembly includes a control interface including first and secondbuttons, actuation of the first button causing reciprocating axialdisplacement of the needle engaging blades.
 4. The endoscopic stitchingdevice according to claim 2, wherein actuation of the second buttontransitions the pair of jaws between the open and closed positions. 5.The endoscopic stitching device according to claim 2, wherein actuationof the first button transitions the pair of jaws between open and closedpositions and causes the reciprocating axial displacement of the needleengaging blades.
 6. The endoscopic stitching device according to claim2, wherein the drive assembly further includes a battery pack to supplypower to the first, second, and third actuators.
 7. The endoscopicstitching device according to claim 1, wherein each jaw of the pair ofjaws defines a needle receiving recess dimensioned to receive a portionof the suture needle.
 8. The endoscopic stitching device according toclaim 1, wherein at least one of the first, second, or third actuatorsis a servomotor.
 9. The endoscopic stitching device according to claim1, wherein the drive assembly further includes a first lead screw and afirst nut, the first actuator operatively connected to the first leadscrew, the first nut operatively connected to the actuation shaft,actuation of the first actuator causing rotation of the first leadscrew, which, in turn causes the axial displacement of the actuationshaft.
 10. The endoscopic stitching device according to claim 9, whereinthe drive assembly further includes a second lead screw and a secondnut, the second actuator operatively connected to the second lead screw,the second nut operatively connected to one of the needle engagingblades, actuation of the second actuator causing rotation of the secondlead screw, which, in turn causes the axial displacement of the one ofthe needle engaging blades.
 11. The endoscopic stitching deviceaccording to claim 10, wherein the drive assembly further includes athird lead screw and a third nut, the third actuator operativelyconnected to the third lead screw, the third nut operatively connectedto the other one of the needle engaging blades, actuation of the thirdactuator causing rotation of the third lead screw, which, in turn causesthe axial displacement of the other one of the needle engaging blades.12. An endoscopic stitching device, comprising: a handle assemblyincluding a drive assembly including first, second, and third electricalactuators; an elongate member having an actuation shaft, the elongatemember extending from the handle assembly; and a tool assemblyoperatively supported on the elongate member, the tool assemblyincluding a suture needle and a pair of jaws pivotally associated withone another, each jaw of the pair of jaws including a needle engagingblade slidably supported thereon, each needle engaging bladetransitionable between an extended position in which the needle engagingblade engages the suture needle and a retracted position in which theneedle engaging blade is disengaged from the suture needle, the firstactuator operatively coupled with the actuation shaft, such that axialdisplacement of the actuation shaft results in opening and closing ofthe pair of jaws, the second and third actuators operatively coupledwith the respective needle engaging blades to provide axial displacementof the needle engaging blades.
 13. The endoscopic stitching deviceaccording to claim 12, each jaw of the pair of jaws defines a needlereceiving recess dimensioned to receive a portion of the suture needle.14. The endoscopic stitching device according to claim 12, wherein atleast one of the first, second, or third actuators is a servomotor. 15.The endoscopic stitching device according to claim 12, wherein the driveassembly further includes a first lead screw and a first nut, the firstactuator operatively connected to the first lead screw, the first nutoperatively connected to the actuation shaft, actuation of the firstactuator causing rotation of the first lead screw, which, in turn causesthe axial displacement of the actuation shaft.
 16. The endoscopicstitching device according to claim 15, wherein the drive assemblyfurther includes a second lead screw and a second nut, the secondactuator operatively connected to the second lead screw, the second nutoperatively connected to one of the needle engaging blades, actuation ofthe second actuator causing rotation of the second lead screw, which, inturn causes the axial displacement of the one of the needle engagingblades.
 17. The endoscopic stitching device according to claim 16,wherein the drive assembly further includes a third lead screw and athird nut, the third actuator operatively connected to the third leadscrew, the third nut operatively connected to the other one of theneedle engaging blades, actuation of the third actuator causing rotationof the third lead screw, which, in turn causes the axial displacement ofthe other one of the needle engaging blades.
 18. The endoscopicstitching device according to claim 12, wherein the drive assemblyfurther includes a printed circuit board including a microprocessor tocontrol execution and sequence of the at least one of first, second, orthird actuators.
 19. The endoscopic stitching device according to claim12, wherein the drive assembly further includes a battery pack to supplypower to the first, second, and third actuators.